US6419031B1 - Method of controlling rock drilling - Google Patents

Method of controlling rock drilling Download PDF

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Publication number
US6419031B1
US6419031B1 US09/445,188 US44518800A US6419031B1 US 6419031 B1 US6419031 B1 US 6419031B1 US 44518800 A US44518800 A US 44518800A US 6419031 B1 US6419031 B1 US 6419031B1
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United States
Prior art keywords
pressure
control
rotation
valve
motor
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Expired - Lifetime
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US09/445,188
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English (en)
Inventor
Tapani Pöysti
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Sandvik Mining and Construction Oy
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Sandvik Tamrock Oy
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Assigned to SANDVIK TAMROCK OY reassignment SANDVIK TAMROCK OY ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: POYSTI, TAPANI
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH DRILLING; MINING
    • E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions

Definitions

  • the drilling is typically controlled by different parameters, the most general of which are the feed pressure, rotation pressure, and the impact pressure of the hammer. These values are typically transformed into electric signals, by which a computer can control the drilling in accordance with the desired limits or algorithms.
  • the speed of rotation of the drill rod is also defined in different ways. In a manual solution, it is determined by rough estimation.
  • the solution used in computer-controlled ‘data equipment’ is one in which the value of the control signal supplied to the electrically-driven valve is indicated as percentages of the maximum control range. It is also possible to use an electric sensor located at the rotation motor or in its transmission box, the sensor making it possible to measure the speed of rotation of the drill rod.
  • the object of the present invention is to provide a method of controlling rock drilling, in which the speed of rotation of the drill rod is measured reliably and by which it can be used to control the actual rock drilling in a suitable manner.
  • the method of the invention is characterized in that for the control, the speed of rotation of the drill rod is defined on the basis of the value of the control signal used to control the control valve that adjusts the flow of the pressure fluid supplied to the rotation motor, and that the value of the control signal indicating the speed of rotation is used as a control parameter.
  • the essential idea of the invention is that the control voltage or control pressure of the control valve of the rotation motor is measured, and that the voltage and pressure are converted to correspond to the speed of rotation by suitable scaling. Since the volume flow produced by the control voltage or pressure through the rotation motor can be expressed as a linear straight line, the converted control voltage and pressure correspondingly yield a linear speed of rotation.
  • the essential idea of a preferred embodiment of the invention is that the parameter, such as the control pressure, expressing the speed of rotation is used in addition to the other parameters to control the rock drilling.
  • the advantage of the invention is that when the control pressure or voltage of the control valve of the rotation motor is used to indicate the speed of rotation, a reliable speed-of-rotation indicator, which is not easily damaged, is obtained.
  • the speed of rotation can thus be controlled both manually and in other ways with the desired accuracy.
  • the control element, or pressure signal or electric signal, of the control valve of the rotation motor is used to control the rock drilling, any changes in the conditions, for example in the fissure automation, can be taken into account, and the speed of rotation can be adjusted to be optimal in respect of the impact.
  • the feed pressure control is based on the rotation pressure, i.e. moment adjustment is used, the parameter indicating the speed of rotation can be used to control the correct operational value.
  • FIG. 1 is a schematic view showing the dependence between the volume flow linearized in accordance with the control pressure of the control valve in the rotation motor and the speed of rotation of the drill rod, and
  • FIG. 2 is a schematic view of a hydraulic connection in which the control pressure value of the valve controlling the rotation is used to control the operation of so-called fissure automation.
  • FIG. 1 is a schematic view showing the linear connection between the control pressure of the control valve in the rotation motor and the flow volume supplied to the rotation motor, i.e. the speed of rotation.
  • line A stands for the control pressure
  • line B stands for the speed of rotation of the rotation motor.
  • the essential point is that there is an essentially linear connection between the volume flow and the speed of rotation, whereby the speed of rotation can be defined unambiguously by measuring the control pressure of the volume flow.
  • the control voltage of the electrically-controlled valve can thus be used to unambiguously indicate the speed of rotation of the drill rod.
  • a linear graph of the speed of rotation and the control voltage or the control pressure can be implemented technically by several linearization methods known per se.
  • FIG. 2 is a schematic view showing how the control pressure of the valve controlling the rotation can be used to control so-called fissure automation.
  • the figure shows a rotation motor 1 connected by channels 2 and 3 to a proportional control valve 4 .
  • a pressure fluid channel 5 to which a pump 6 supplies pressure fluid.
  • the pressure fluid can flow along a channel 7 to a pressure fluid tank 8 .
  • the control valve 4 is here a pressure-controlled one, and it obtains the control pressure along a control pressure channel 9 .
  • a control pressure channel 10 extends to a pressure limit valve 11 , which is turn is connected by a channel 12 to a so-called fissure control valve 13 .
  • the control pressure channel 9 is further connected to the pressure limit valve 11 whereby it provides reference pressure and controls when the pressure limit valve 11 allows the control pressure supplied along channel 10 to control the fissure control valve 13 . Further, from channel 3 of the rotation motor, a control channel is connected via a choke 14 to the pressure fluid pump 6 , which is a so-called pressure-controlled volume flow pump.
  • a control pressure is supplied along the control channel 9 to valve 4 , and the pressure makes the rotation motor 1 rotate in the normal direction of rotation.
  • Control pressure is continuously obtained from the pressure fluid supply channel 3 , leading to the rotation motor, through channel 15 to the pump 6 , so that the volume flow passing through the rotation motor remains essentially constant.
  • the pressure of the supply channel of the rotation motor simultaneously affects the pressure limit switch 11 through the control channel 10 .
  • the control pressure of the valve 4 also controls the pressure difference value of the pressure limit valve 11 , the increase of pressure in channel 3 caused by the rotation resistance will not affect the fissure valve 13 until the pressure difference between channel 3 and the control pressure channel 9 is equal to the pre-set value.
  • the speed of rotation can thus be maintained at the pre-set value, while the control of the speed of rotation is used to give the rotation resistance a suitable threshold value before the supply is switched to a return motion by the fissure valve 13 .
  • the pressure from channel 3 i.e. the supply channel
  • the pressure of channel 3 is supplied through the pressure limit valve 11 to the fissure control valve 13 , which is turn switches the feed motor of the rock drill (not shown) to a return motion in a manner known per se, until the pressure again drops below the threshold value set for valve 11 .
  • the invention can also be applied so that the speed of rotation is utilized when the impact frequency of the rock drill changes with the impact pressure.
  • the value of the speed of rotation can thus be controlled in accordance with the impact frequency, i.e. here impact pressure, so that the rotation of the drill bit between the impacts is of a desired order, and that the outermost buttons of the drill bit settle in a suitable position between the button positions of the previous impact. This enhances the rock-breaking effect of the impact.
  • the invention is described in the above specification and in the drawings only by way of an example, and it is not to be understood as being limited thereto.
  • the essential feature is that the speed of rotation is measured or defined on the basis of the control element, such as the voltage or the pressure, of the control valve of the rotation circuit, and that the resultant value of the speed of rotation is then used, if necessary, with the other parameters to control the rock drilling.
US09/445,188 1997-06-13 1998-05-29 Method of controlling rock drilling Expired - Lifetime US6419031B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI972533A FI105054B (fi) 1997-06-13 1997-06-13 Menetelmä kallionporauksen ohjaamiseksi
FI972533 1997-06-13
PCT/FI1998/000458 WO1998057033A1 (en) 1997-06-13 1998-05-29 Method of controlling rock drilling

Publications (1)

Publication Number Publication Date
US6419031B1 true US6419031B1 (en) 2002-07-16

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ID=8549050

Family Applications (1)

Application Number Title Priority Date Filing Date
US09/445,188 Expired - Lifetime US6419031B1 (en) 1997-06-13 1998-05-29 Method of controlling rock drilling

Country Status (11)

Country Link
US (1) US6419031B1 (de)
JP (1) JP2002504199A (de)
AU (1) AU742296B2 (de)
CA (1) CA2293643A1 (de)
DE (1) DE19882445B4 (de)
FI (1) FI105054B (de)
FR (1) FR2764633B1 (de)
NO (1) NO996126L (de)
SE (1) SE516898C2 (de)
WO (1) WO1998057033A1 (de)
ZA (1) ZA984926B (de)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006062460A1 (en) * 2004-12-10 2006-06-15 Atlas Copco Rock Drills Ab Arrangement and method for controlling drilling parameters
US20090008150A1 (en) * 2005-08-08 2009-01-08 Schlumberger Technology Corporation Drilling System
US20140116242A1 (en) * 2012-10-31 2014-05-01 Robert Bosch Gmbh Adjustment apparatus for a hydrostatic piston machine, and hydrostatic piston machine having an adjustment apparatus of this kind
US9051781B2 (en) 2009-08-13 2015-06-09 Smart Drilling And Completion, Inc. Mud motor assembly
US9745799B2 (en) 2001-08-19 2017-08-29 Smart Drilling And Completion, Inc. Mud motor assembly

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI121027B (fi) * 2004-09-24 2010-06-15 Sandvik Mining & Constr Oy Menetelmä iskevän kallionporauksen ohjaamiseksi, ohjelmistotuote sekä kallionporauslaite

Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3385376A (en) 1966-07-28 1968-05-28 Hobhouse Henry Drilling apparatus with means for controlling the feed and supply of drill fluid to the drill
US4120097A (en) * 1974-10-02 1978-10-17 John Doise Jeter Pulse transmitter
US4271914A (en) 1976-12-02 1981-06-09 The United States Of America As Represented By The Secretary Of The Interior Automatic feed and rotational speed control system of a hydraulic motor operated drill
US4369848A (en) 1978-05-11 1983-01-25 Oy Tampella Ab Control system for a rock drill
EP0112810A2 (de) 1982-12-27 1984-07-04 Atlas Copco Aktiebolag Gesteinbohrvorrichtung und Verfahren zum Optimieren von Schlagbohren
US4491186A (en) * 1982-11-16 1985-01-01 Smith International, Inc. Automatic drilling process and apparatus
GB2183272A (en) 1985-11-22 1987-06-03 Amoco Corp Controlling the force applied to a drill bit while drilling
GB2196668A (en) 1986-09-15 1988-05-05 Forasol S A Drilling system
US4936397A (en) * 1989-03-27 1990-06-26 Slimdril International, Inc. Earth drilling apparatus with control valve
DE4302755A1 (de) 1993-02-01 1994-08-04 Rexroth Mannesmann Gmbh Steuereinrichtung zur Regelung einer von zwei zusammenwirkenden Hydraulik-Verbrauchern abhängigen Arbeitskenngröße
US5435402A (en) * 1994-09-28 1995-07-25 Ziegenfuss; Mark Self-propelled earth drilling hammer-bit assembly
US5449047A (en) 1994-09-07 1995-09-12 Ingersoll-Rand Company Automatic control of drilling system
WO1997008428A1 (en) 1995-08-28 1997-03-06 Atlas Copco Craelius Ab Method and device for drilling
US5679894A (en) 1993-05-12 1997-10-21 Baker Hughes Incorporated Apparatus and method for drilling boreholes
WO1997047858A1 (en) 1996-06-10 1997-12-18 Tamrock Oy Method and arrangement for controlling a rock drilling unit driven by a diesel-hydraulic power source
US6109370A (en) * 1996-06-25 2000-08-29 Ian Gray System for directional control of drilling
US6152222A (en) * 1996-06-07 2000-11-28 Kveilerorvibrator As Hydraulic device to be connected in a pipe string

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4006783A (en) * 1975-03-17 1977-02-08 Linden-Alimak Ab Hydraulic operated rock drilling apparatus
US4074771A (en) * 1976-03-25 1978-02-21 Joy Manufacturing Company Rock drill
JPS5723579Y2 (de) * 1978-12-18 1982-05-21
JPH0631522B2 (ja) * 1985-12-27 1994-04-27 古河機械金属株式会社 さく孔機の制御装置
JPH0756199B2 (ja) * 1986-04-21 1995-06-14 オカダアイヨン株式会社 回転穿孔装置の制御装置
JPH07158377A (ja) * 1993-12-09 1995-06-20 Tokyo Riyuuki Seizo Kk クローラドリルの穿孔制御装置
JP3447108B2 (ja) * 1994-04-28 2003-09-16 古河機械金属株式会社 さく孔機の回転制御装置

Patent Citations (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3385376A (en) 1966-07-28 1968-05-28 Hobhouse Henry Drilling apparatus with means for controlling the feed and supply of drill fluid to the drill
US4120097A (en) * 1974-10-02 1978-10-17 John Doise Jeter Pulse transmitter
US4271914A (en) 1976-12-02 1981-06-09 The United States Of America As Represented By The Secretary Of The Interior Automatic feed and rotational speed control system of a hydraulic motor operated drill
US4369848A (en) 1978-05-11 1983-01-25 Oy Tampella Ab Control system for a rock drill
US4491186A (en) * 1982-11-16 1985-01-01 Smith International, Inc. Automatic drilling process and apparatus
EP0112810A2 (de) 1982-12-27 1984-07-04 Atlas Copco Aktiebolag Gesteinbohrvorrichtung und Verfahren zum Optimieren von Schlagbohren
GB2183272A (en) 1985-11-22 1987-06-03 Amoco Corp Controlling the force applied to a drill bit while drilling
US4721172A (en) 1985-11-22 1988-01-26 Amoco Corporation Apparatus for controlling the force applied to a drill bit while drilling
GB2196668A (en) 1986-09-15 1988-05-05 Forasol S A Drilling system
US4936397A (en) * 1989-03-27 1990-06-26 Slimdril International, Inc. Earth drilling apparatus with control valve
DE4302755A1 (de) 1993-02-01 1994-08-04 Rexroth Mannesmann Gmbh Steuereinrichtung zur Regelung einer von zwei zusammenwirkenden Hydraulik-Verbrauchern abhängigen Arbeitskenngröße
US5679894A (en) 1993-05-12 1997-10-21 Baker Hughes Incorporated Apparatus and method for drilling boreholes
US5449047A (en) 1994-09-07 1995-09-12 Ingersoll-Rand Company Automatic control of drilling system
US5435402A (en) * 1994-09-28 1995-07-25 Ziegenfuss; Mark Self-propelled earth drilling hammer-bit assembly
WO1997008428A1 (en) 1995-08-28 1997-03-06 Atlas Copco Craelius Ab Method and device for drilling
US6152222A (en) * 1996-06-07 2000-11-28 Kveilerorvibrator As Hydraulic device to be connected in a pipe string
WO1997047858A1 (en) 1996-06-10 1997-12-18 Tamrock Oy Method and arrangement for controlling a rock drilling unit driven by a diesel-hydraulic power source
US6109370A (en) * 1996-06-25 2000-08-29 Ian Gray System for directional control of drilling

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9745799B2 (en) 2001-08-19 2017-08-29 Smart Drilling And Completion, Inc. Mud motor assembly
WO2006062460A1 (en) * 2004-12-10 2006-06-15 Atlas Copco Rock Drills Ab Arrangement and method for controlling drilling parameters
US20090044976A1 (en) * 2004-12-10 2009-02-19 Maria Pettersson Arrangement and method for controlling drilling parameters
US7762352B2 (en) 2004-12-10 2010-07-27 Atlas Copco Rock Drills Ab Arrangement and method for controlling drilling parameters
AU2005312383B2 (en) * 2004-12-10 2010-10-07 Epiroc Rock Drills Aktiebolag Arrangement and method for controlling drilling parameters
CN101076654B (zh) * 2004-12-10 2011-03-30 阿特拉斯科普科凿岩机股份公司 用于控制钻凿参数的设备及方法
NO336944B1 (no) * 2004-12-10 2015-11-30 Atlas Copco Rock Drills Ab Anordning og fremgangsmåte for styring av boreparametere
US20090008150A1 (en) * 2005-08-08 2009-01-08 Schlumberger Technology Corporation Drilling System
US8336642B2 (en) * 2005-08-08 2012-12-25 Schlumberger Technology Corporation Drilling system
US9051781B2 (en) 2009-08-13 2015-06-09 Smart Drilling And Completion, Inc. Mud motor assembly
US20140116242A1 (en) * 2012-10-31 2014-05-01 Robert Bosch Gmbh Adjustment apparatus for a hydrostatic piston machine, and hydrostatic piston machine having an adjustment apparatus of this kind
US9541072B2 (en) * 2012-10-31 2017-01-10 Robert Bosch Gmbh Adjustment apparatus for a hydrostatic piston machine, and hydrostatic piston machine having an adjustment apparatus of this kind

Also Published As

Publication number Publication date
SE9904511L (sv) 1999-12-10
DE19882445T1 (de) 2000-05-25
FI972533A0 (fi) 1997-06-13
AU742296B2 (en) 2001-12-20
ZA984926B (en) 1999-01-04
CA2293643A1 (en) 1998-12-17
SE9904511D0 (sv) 1999-12-10
SE516898C2 (sv) 2002-03-19
NO996126D0 (no) 1999-12-10
JP2002504199A (ja) 2002-02-05
FR2764633A1 (fr) 1998-12-18
FI105054B (fi) 2000-05-31
DE19882445B4 (de) 2006-03-23
AU7534098A (en) 1998-12-30
WO1998057033A1 (en) 1998-12-17
FI972533A (fi) 1998-12-14
FR2764633B1 (fr) 2001-01-05
NO996126L (no) 1999-12-10

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